CN109998867B - Under-actuated upper and lower limb rehabilitation training robot - Google Patents

Under-actuated upper and lower limb rehabilitation training robot Download PDF

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Publication number
CN109998867B
CN109998867B CN201910434412.9A CN201910434412A CN109998867B CN 109998867 B CN109998867 B CN 109998867B CN 201910434412 A CN201910434412 A CN 201910434412A CN 109998867 B CN109998867 B CN 109998867B
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branched chain
frame
lower limb
servo motor
connecting rod
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CN109998867A (en
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崔冰艳
陈鹏
解勇涛
武晓轩
杨中原
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North China University of Science and Technology
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North China University of Science and Technology
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5007Control means thereof computer controlled
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01Indexing scheme relating to G06F3/01
    • G06F2203/012Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses an underactuated upper and lower limb rehabilitation training robot which comprises a frame, a driving part, an upper limb movement branched chain and a lower limb movement branched chain, wherein the lower limb movement branched chain is arranged at the bottom of the frame, and the upper limb movement branched chain is arranged at the top of the frame; the lower limb movement branched chain is provided with a training pedal which is driven by a crankshaft connecting rod; the upper limb movement branched chain is provided with a parallelogram mechanism and a front end handle which is simultaneously driven by the telescopic movement driving mechanism, and the first servo motor drives the crankshaft connecting rod and the parallelogram mechanism; the second servo motor drives the front end handle to stretch and retract through the amplifying rocker and the amplifying crank; the device is also provided with a VR virtual scene system to improve the interests of the user. The device can realize that patient's upper limbs and low limbs carry out rehabilitation training simultaneously, and its structure is simple relatively, and is with low costs, and it is comfortable convenient to use, can carry out rehabilitation training to patient's upper limbs and low limbs simultaneously.

Description

Under-actuated upper and lower limb rehabilitation training robot
Technical Field
The invention relates to an underactuated upper and lower limb rehabilitation training robot.
Background
Cerebral thrombosis is a common cardiovascular disease, and most patients have limb movement disorders with varying degrees on one or both sides. The medical theory proves that the patients not only need early surgical treatment and drug treatment, but also have important and irreplaceable functions on the movement functions of the limbs of the patients in scientific and correct rehabilitation training. An under-actuated upper and lower limb rehabilitation training robot can effectively prevent joint contracture, maintain the mobility of joints, improve the rehabilitation degree of the movement functions of the upper and lower limbs of a patient and realize the recovery of leg joint functions as soon as possible.
The existing domestic and foreign rehabilitation robots are used for treating and rehabilitation training of patients with limb movement dysfunction, and have the defects that (1) the activity space is small during rehabilitation training, the mechanism is complex, the price is high, and the manufacturing cost is high; (2) The rehabilitation process is tedious and boring, so that the patient generates contradiction emotion; (3) The rehabilitation training of the upper limb and the lower limb of the patient cannot be performed at the same time.
Disclosure of Invention
The invention aims to solve the technical problem of providing an under-actuated upper and lower limb rehabilitation training robot, which can realize the simultaneous rehabilitation training of the upper limb and the lower limb of a patient, has a relatively simple structure, low cost and comfortable and convenient use, and can simultaneously perform the rehabilitation training on the upper limb and the lower limb of the patient.
In order to solve the technical problems, the invention adopts the following technical means:
the under-actuated upper and lower limb rehabilitation training robot comprises a frame, a driving part, an upper limb movement branched chain and a lower limb movement branched chain, wherein the lower limb movement branched chain is arranged at the bottom of the frame, and the upper limb movement branched chain is arranged at the top of the frame; the lower limb movement branched chain is provided with a training pedal, the training pedal is hinged on the frame, the training pedal is driven by an eccentric connecting rod and a crankshaft, and the crankshaft is driven by a first servo motor; the upper limb movement branched chain is provided with a parallelogram mechanism, the parallelogram mechanism is provided with a transmission rod, a driving piece, a first connecting rod and a second connecting rod, both ends of the first connecting rod and both ends of the second connecting rod are respectively hinged with the transmission rod and the driving piece, a rotating shaft drives the transmission rod through a rotating piece, and the rotating shaft is driven by a first servo motor; the amplifying rod is sleeved on the driving handle, a second servo motor is arranged on the bottom surface of the driving handle, and the front end handle is connected with the driving handle through the seat barrel; the driving handle is connected with the driving piece, and the parallelogram mechanism drives the front end handle to swing through the swing of the driving handle; the second servo motor drives the front end handle to stretch and retract through the amplifying rocking rod and the amplifying crank.
Compared with the prior art, the method has the outstanding characteristics that:
(1) The device has the advantages that the structure is relatively simple, the cost is low, the upper limb movement branched chain and the lower limb movement branched chain can be driven simultaneously through the same servo motor, the use of the motor is saved, the device is small in size, and the operation is convenient.
(2) The upper limb movement branched chain can swing and extend or retract, so that the upper limb can be subjected to rehabilitation training with 2 degrees of freedom, and the rehabilitation training effect is improved.
(3) The lower limb movement branched chain can realize rehabilitation training of 1 degree of freedom of the lower limb.
The training pedal is hinged with the cross beam through a deep groove ball bearing, and two ends of the cross beam are connected with the frame.
Through setting up the crossbeam, make things convenient for the articulated installation of training footboard.
The crankshaft is fixed with the stepped shaft through a coupler, the eccentric connecting rod is sleeved on the crankshaft, and the bottom end of the eccentric connecting rod is connected with the training pedal through a ball pair.
Through setting up shaft coupling, step shaft and eccentric connecting rod, make things convenient for the drive of training footboard, make the motion of training footboard reliable and stable.
The training pedal interval be equipped with a plurality of recesses of placing patient's both feet, the recess bottom is equipped with the crossbeam.
Through setting up a plurality of recesses, different patients can be according to the circumstances of self, select different recesses to place the foot, make the low limbs more comfortable, the recess bottom is equipped with the crossbeam, can prevent that the foot landing from getting off in the motion process, has improved rehabilitation training's security.
The first servo motor is meshed with the worm gear and the worm to drive the rotating shaft, the worm is fixed on the rotating shaft through the flat key and the check ring, the rotating shaft is connected with the frame through the deep groove ball bearing and is fixed on the frame, and the rotating shaft, the rotating piece and the transmission rod form a crank rocker mechanism.
Through setting up worm wheel, worm, conveniently utilize first servo motor drive upper limbs motion branched chain.
The transmission rod is of an adjustable sleeve-shaped structure, and the sleeve is connected through a pin hole and a fixing pin.
Through setting into adjustable sleeve-like structure, a thick, a thin sleeve can nest together, connects fixedly through pinhole, fixed pin, conveniently adjusts upper limbs motion branched chain swing range.
The upper part of the driving handle is provided with a balancing weight for balancing gravity.
Through setting up the balancing weight, the balanced gravity of being convenient for makes the part swing more steady.
The frame is provided with a dovetail groove and a dovetail groove guide rail, and the dovetail groove is connected with the supporting plate; the support plate can slide left and right along the dovetail groove guide rail, and is fixed by bolts when the support plate slides to a proper position.
The positions of different swing amplitudes of the support plate can be further adjusted by arranging the support plate to slide along the dovetail groove guide rail to adjust the positions.
The under-actuated upper and lower limb rehabilitation training robot is also provided with a VR virtual scene system, wherein the VR virtual scene system comprises a central computer, an upper and lower limb motion capturing device and a virtual scene display screen, and the upper and lower limb motion capturing device and the virtual scene display screen are connected to the central computer; the central computer is internally provided with a VR virtual scene system and a man-machine interaction system, wherein a plurality of virtual scene software are stored in the VR virtual scene system, and data acquired by the upper and lower limb motion capturing devices are processed in the central computer through the man-machine interaction system; the control system of the man-machine interaction system is provided with an operation interface; the first servo motor and the second servo motor are connected to a control system.
And the VR virtual reality technology is applied, so that the enthusiasm of patients to participate in rehabilitation training is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of the structure of the upper limb movement branched chain.
Fig. 3 is a schematic diagram of a parallelogram mechanism.
Fig. 4 is a schematic diagram of a crank and rocker mechanism.
Fig. 5 is a schematic diagram of a lower limb movement branched chain structure.
Reference numerals illustrate:
a first servomotor 101; a belt 102; a pulley 103; a frame 104; a support plate 105; a virtual scene display screen 106; wheel 107; a large pulley 103; a small pulley 108; a rotation shaft 201; a rotary blade 202; a rotation shaft 203; a transmission rod 204; an amplification lever 211; a drive handle 205; a first link 206; a second link 207; a second servo motor 208; a drive shaft 209; a weight 210; an amplification lever 211; an amplification crank 212; an amplification rocker 213; a driving plate 214; a worm wheel 301; a worm 302; a flywheel 303; a stepped shaft 304; a crankshaft 305; an eccentric link 306; the pedal 307 is trained.
Detailed Description
The invention will be further illustrated with reference to the following examples.
Referring to fig. 1 to 5, it can be seen that the under-actuated upper and lower limb rehabilitation training robot of the present invention comprises a frame 104, a driving part, an upper limb movement branched chain and a lower limb movement branched chain; the motor drive can realize the rehabilitation training of 2 degrees of freedom of the upper limb and the rehabilitation training of 1 degree of freedom of the lower limb; the driving part comprises a first servo motor 101, a belt 102, a large belt pulley 103 and a small belt pulley 108, wherein the small belt pulley 108 is connected with the first servo motor 101 through a flat key and a coupling; the upper limb movement branched chain consists of a supporting plate 105, a worm wheel 301, a worm 302, a rotating shaft 201, a rotating plate 202, a transmission rod 203, an amplifying rod 211, a driving handle 205, an amplifying crank 212, an amplifying rocker 203, a front end handle 204, a second servo motor 208, a driving plate 214 and a first connecting rod 206 and a second connecting rod 207; the lower limb movement branch consists of a flywheel 303, a stepped shaft 304, a crankshaft 305, an eccentric connecting rod 306 and a training pedal 307.
The large belt pulley 103, the worm gear 301, the flywheel 303 and the retainer ring are fixed on the stepped shaft 304 through flat keys; the worm 302 is fixed on the rotating shaft 201 through a flat key and a check ring; the rotation shaft 201 is connected to the frame 104 by a deep groove ball bearing and is fixed to the frame 104.
The training pedal 307 is fixed on the frame 104 through a deep groove ball bearing and a retainer ring; the first servo motor 101 provides driving force in a belt transmission mode, and the flywheel 303 stabilizes the movement rate of the whole rehabilitation robot to prevent secondary injury to a patient.
The parallelogram mechanism consists of a transmission rod 203, a driving piece 214 and a first connecting rod 206 and a second connecting rod 207, wherein the transmission rod 203 is adjustable, can be manually lengthened and shortened, and is fixed in length through a cross pin; one end of the first connecting rod 206 is hinged with the upper surface of the transmission rod 203, and the other end of the first connecting rod 206 is hinged with the lower surface of the driving piece 214; one end of the second connecting rod 207 is hinged with the lower surface of the transmission rod 203, and the other end of the second connecting rod 207 is hinged with the upper surface of the driving piece 214; the amplifying rod 211 is sleeved on the driving handle 205, a second servo motor 208 is installed on the bottom surface of the driving handle 205, a balancing weight 210 is arranged above the driving handle 205 and used for balancing gravity, and the second servo motor 208 drives the amplifying crank 212 and the amplifying rocker 213 to enable the front end handle 204 to realize telescopic movement.
The frame 104 is provided with a dovetail groove guide rail, the dovetail groove is matched with the dovetail groove guide rail, and the dovetail groove is connected with the supporting plate 105. The beam of the frame 104 is provided with a training pedal 307, and the training pedal 307 is connected with the beam through a deep groove ball bearing. Four wheels 107 are arranged on the bottom surface of the stand 104.
The support plate 105 can slide left and right along the dovetail guide rail, and is fixed by bolts when sliding to a proper position. The support plate 105 is provided with a bearing housing, and the transmission shaft 209 of the upper limb movement chain is mounted in the bearing housing of the support plate 105. The upper surface of the support plate 105 is provided with a virtual scene display screen 106.
The crankshaft 305 is fixed with the stepped shaft 304 through a coupler, the eccentric connecting rod 306 is sleeved on the crankshaft, and the bottom end of the eccentric connecting rod 306 is connected with the training pedal 307 through a ball pair.
The training pedal 307 interval is equipped with a plurality of recesses of placing patient's both feet, can select the recess to place the foot as required for increase patient's comfort level, and the recess bottom is equipped with the crossbeam, can prevent effectively that the foot from breaking away from the training pedal.
The VR virtual scene system comprises a central computer, an upper limb and lower limb motion capturing device and a virtual scene display screen, wherein the upper limb and lower limb motion capturing device and the virtual scene display screen are connected to the central computer; a VR virtual scene system and a man-machine interaction system are installed in the central computer, a plurality of types of virtual scene software are stored in the VR virtual scene system, and data acquired by the upper and lower limb motion capturing devices are processed in the central computer through the man-machine interaction system; a control system is arranged in the medical staff operation interface; the first servo motor and the second servo motor are connected to a control system.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the scope of the claims, but rather the equivalent structural changes made by the application of the present description and drawings are intended to be included within the scope of the claims.

Claims (1)

1. The utility model provides an under-actuated upper and lower limbs rehabilitation training robot, includes frame, drive portion, upper limbs motion branched chain and low limbs motion branched chain, its characterized in that: the bottom of the frame is provided with a lower limb movement branched chain, and the top of the frame is provided with an upper limb movement branched chain; the lower limb movement branched chain is provided with a training pedal, the training pedal is hinged on the frame, the training pedal is driven by an eccentric connecting rod and a crankshaft, and the crankshaft is driven by a first servo motor; the upper limb movement branched chain is provided with a parallelogram mechanism, the parallelogram mechanism is provided with a transmission rod, a driving piece, a first connecting rod and a second connecting rod, both ends of the first connecting rod and both ends of the second connecting rod are respectively hinged with the transmission rod and the driving piece, a rotating shaft drives the transmission rod through a rotating piece, and the rotating shaft is driven by a first servo motor; the amplifying rod is sleeved on the driving handle, a second servo motor is arranged on the bottom surface of the driving handle, and the front end handle is connected with the driving handle through the seat barrel; the driving handle is connected with the driving piece, and the parallelogram mechanism drives the front end handle to swing through the swing of the driving handle; the second servo motor drives the front end handle to stretch and retract through the amplifying rocker and the amplifying crank;
the training pedal is hinged with the cross beam through a deep groove ball bearing, and two ends of the cross beam are connected with the frame;
the crankshaft is fixed with the stepped shaft through a coupler, the eccentric connecting rod is sleeved on the crankshaft, and the bottom end of the eccentric connecting rod is connected with the training pedal through a ball pair;
the training pedals are provided with a plurality of grooves for placing feet of a patient at intervals, and the bottom ends of the grooves are provided with cross beams;
the first servo motor is meshed with a worm wheel and a worm to drive a rotating shaft, the worm is fixed on the rotating shaft through a flat key and a check ring, the rotating shaft is connected with the frame through a deep groove ball bearing and is fixed on the frame, and the rotating shaft, the rotating piece and the transmission rod form a crank rocker mechanism;
the transmission rod is of an adjustable sleeve-shaped structure, and the sleeves are connected through pin holes and fixing pins;
a balancing weight is arranged above the driving handle to balance the gravity;
the frame is provided with a dovetail groove and a dovetail groove guide rail, and the dovetail groove is connected with the supporting plate; the supporting plate can slide left and right along the dovetail groove guide rail, and is fixed by bolts when the supporting plate slides to a proper position;
the virtual scene system comprises a central computer, an upper limb and lower limb motion capturing device and a virtual scene display screen, wherein the upper limb and lower limb motion capturing device and the virtual scene display screen are connected to the central computer; the central computer is internally provided with a VR virtual scene system and a man-machine interaction system, wherein a plurality of virtual scene software are stored in the VR virtual scene system, and data acquired by the upper and lower limb motion capturing devices are processed in the central computer through the man-machine interaction system; the control system of the man-machine interaction system is provided with an operation interface; the first servo motor and the second servo motor are connected to a control system.
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